CN109690649A - Vehicle travel control method and controlling device for vehicle running - Google Patents
Vehicle travel control method and controlling device for vehicle running Download PDFInfo
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- CN109690649A CN109690649A CN201680088960.5A CN201680088960A CN109690649A CN 109690649 A CN109690649 A CN 109690649A CN 201680088960 A CN201680088960 A CN 201680088960A CN 109690649 A CN109690649 A CN 109690649A
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- 238000001514 detection method Methods 0.000 claims description 14
- 238000012887 quadratic function Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 5
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- 230000004888 barrier function Effects 0.000 claims description 4
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present invention realization is able to suppress the vehicle in preceding vehicle switching and acts there is a situation where varying widely, and can ensure the vehicle driving control to the followability of preceding vehicle.Processing below is carried out in the case where being inserted into new preceding vehicle between preceding vehicle and this vehicle detecting.The first area for being judged as that this vehicle is travelable is calculated according to the driving trace of new preceding vehicle.It will be until the travelable region of this vehicle of last time be set as second area.It provides first area and second area integration can travel region.The target travel track of this vehicle is generated in the travelable region of defined.Along this vehicle of target travel TRAJECTORY CONTROL generated.
Description
Technical field
The present invention relates to vehicle travel control methods and vehicle driving that this vehicle is controlled in a manner of following preceding vehicle
Control device.
Background technique
In the case where controlling this vehicle in a manner of following preceding vehicle, exists due to vehicle insertion (jumping a queue) or take off
When so that the preceding vehicle that should be followed is switched from equal, control target value has greatly changed, and the movement of vehicle becomes not
Stable problem.
Thus, it is forward detecting in the technology that patent document 1 (Japanese Unexamined Patent Publication 2007-176290 bulletin) is recorded
In the case that vehicle switches, temporarily reduce for following gain used in the feedback control of preceding vehicle, to inhibit vehicle
Movement varies widely.
In technology described in Patent Document 1, although be able to suppress vehicle movement vary widely, but then its
Reduce the followability to preceding vehicle.Thus, for example insertion (jumping a queue) occurs in the traveling of bend and cuts preceding vehicle
When changing, there are this vehicles, and traveling can not properly be followed in the preceding vehicle of bend this vehicle to be detached from from traveling lane
Problem.
Summary of the invention
Therefore, it is an object of the invention to realize that being able to suppress the vehicle movement in preceding vehicle switching varies widely
The case where, and can ensure the vehicle driving control to the followability of preceding vehicle.
To achieve the above object, the present invention is detecting the case where being inserted into new preceding vehicle between preceding vehicle and this vehicle
Under, execute processing below.That is, calculating the firstth area for being judged as that this vehicle is travelable according to the driving trace of new preceding vehicle
The travelable region of this vehicle up to last time is set as second area by domain, and first area and second area are integrated and advised
Surely it can travel region.In turn, the target travel track of this vehicle is generated in defined travelable region, and along generated
This vehicle of target travel TRAJECTORY CONTROL.
As a result, even if being also able to suppress the movement of this vehicle in the case where preceding vehicle switching and varying widely
The case where.Further, it is possible to ensure the followability to preceding vehicle.
Detailed description of the invention
Fig. 1 is the vehicle row for indicating the vehicle travel control method of embodiment 1 and controlling device for vehicle running and being applicable in
Sail the block diagram of the whole outline of control system；
Fig. 2 is the flow chart for indicating the vehicle driving control processing of the embodiment 1 executed using vehicle control arithmetic unit；
Fig. 3 is the explanatory diagram for illustrating the travelable region calculation processing of embodiment 1；
Fig. 4 is the explanatory diagram for the variation for illustrating the travelable region calculation processing of embodiment 1；
Fig. 5 is for illustrating that the driving trace of embodiment 1 generates the explanatory diagram of processing；
Fig. 6 is for illustrating that the driving trace of embodiment 1 generates the explanatory diagram of processing；
Fig. 7 is for illustrating that the driving trace of embodiment 1 generates the explanatory diagram of the variation of processing；
Fig. 8 is the explanatory diagram for indicating the effect of vehicle driving control of embodiment 1；
Fig. 9 is the explanatory diagram for other variations for illustrating the travelable region calculation processing of embodiment 1；
Figure 10 is the process for indicating the vehicle driving control processing of the embodiment 2 executed using vehicle control arithmetic unit
Figure；
Figure 11 is the explanatory diagram for illustrating the travelable region calculation processing of embodiment 2.
Specific embodiment
Hereinafter, embodiment based on the figure, to for realizing vehicle travel control method of the invention and vehicle row
The embodiment for sailing control device is illustrated.
Embodiment 1
Fig. 1 is the block diagram for indicating the outline of vehicle travel control system 1 of embodiment 1.As shown in Figure 1, vehicle driving control
System 1 processed has: object detection sensors 21, wheel speed sensor 22, Yaw rate sensor 23, object identification arithmetic unit
24, vehicle control arithmetic unit 30, actuator 40.In addition, the system that vehicle travel control system 1 is mounted in this vehicle 10.
The detection of object detection sensors 21 whether there is around this vehicle 10 preceding vehicle or barrier.Separately
Outside, object detection sensors 21 are constituted such as by scanning type laser radar or millimetre-wave radar.
Wheel speed sensor 22 is set on the left and right driven wheel of this vehicle 10, detects the revolving speed of driven wheel.Pass through vehicle
The revolving speed that wheel speed sensor 22 detects is used to calculate the speed and driving direction of this vehicle 10.In addition, yaw rate senses
The angular velocity of rotation of detection this vehicle 10 of device 23.The angular velocity of rotation detected by Yaw rate sensor 23 is for calculating this vehicle
10 orientation.
The position for the object that the detection of object identification arithmetic unit 24 is detected by object detection sensors 21, and being based on should
The size of object and with the relative velocity of this vehicle 10 etc., judges whether detected object is preceding vehicle.In addition, working as
It detects then to mark the preceding vehicle when being preceding vehicle.Therefore, other vehicles are inserted between preceding vehicle and this vehicle 10
When or preceding vehicle occur lane change in the case where, be capable of detecting when the switching of preceding vehicle.In addition, object identification is transported
It calculates device 24 and calculates the speed of detected preceding vehicle and the vehicle headway etc. of the preceding vehicle and this vehicle 10, to realize
The model- following control of preceding vehicle.
Vehicle control arithmetic unit 30 has travelable region calculation part 301, memory 302, track generating unit 303, row
Sail control unit 304.It can travel calculated result or vehicle wheel rotational speed of the region calculation part 301 based on object identification arithmetic unit 24
The testing result of sensor 22 and Yaw rate sensor 23 calculates the region that can be judged as that this vehicle 10 is travelable.
Using the calculated travelable region storage of travelable region calculation part 301 to memory 302, and it is sent to track
Generating unit 303.Track generating unit 303 generates the target travel track T of this vehicle 10 in the travelable region received.
The target travel track T that generating unit 303 generates in track is sent to driving control portion 304.Driving control portion 304
Each control amount relative to diverter, accelerator, brake etc. (not shown) is calculated, so that this vehicle 10 can be along being connect
The target travel track T of receipts is travelled.In addition, driving actuator 40 based on calculated control amount.In addition, though the illustration is omitted,
But actuator 40 is made of steering actuator, driving actuator, brake actuator etc..
Fig. 2 indicates (to be more precisely built in vehicle control arithmetic unit 30 with arithmetic unit 30 using vehicle control
Central processing unit) execute embodiment 1 vehicle driving control processing flow chart.Process shown in Fig. 2 is driven a vehicle before satisfaction
It is performed when the beginning condition of model- following control.In addition, if the beginning condition for meeting preceding vehicle model- following control is to exist
The execution switch of preceding vehicle model- following control in the case where preceding vehicle, for example based on the driver's seat for being set to this vehicle 10
ON/OFF state and traffic behavior are judged.
Firstly, detecting preceding driving using object detection sensors 21 and object identification arithmetic unit 24 in step S31
?.
In step s 32, the calculating of region calculation part 301 preceding vehicle detected in step S31 and this be can travel
Existing travelable region between vehicle 10, and as first area A.Specifically, the current location in this vehicle is calculated with before
The driving trace that preceding vehicle is actually travelled between the current location of driving, and as first area A.This is because being based on
The region for the track that preceding vehicle has travelled can determine whether also to can travel for this vehicle 10.In addition, first area can be traveling
Track itself (that is, vehicle-width of only preceding vehicle), is also possible to for driving trace to be expanded to traveling lane width, in addition also
It can be set as the width between both.
In step S33, can travel region calculation part 301 will be until the travelable region that last computation goes out be set as second
Region B.It is judged as travelable entire in the previous processing cycle of this processing cycle that is, reading out from memory 302
Region, and it is set as above-mentioned second area B.
In addition, supplement the processing of step S33, in embodiment 1, based on by this vehicle 10 as the opposite of origin
Coordinate calculates first, second region etc..Therefore, it in step S33, will set up to the travelable region of this vehicle 10 of last time
When being set to second area B, also executes and corresponded to from last time to the change of the coordinate of the amount of movement of this this vehicle 10 and moving direction
It changes.
Furthermore it is possible to according to the output of wheel speed sensor 22 and Yaw rate sensor 23, and utilize dead reckoning meter
Calculate this vehicle 10 amount of movement and moving direction and carry out above-mentioned coordinate transform.Alternatively, can also be according to wheel speed sensor
22 output, and using odometry calculate this vehicle 10 amount of movement and moving direction and be coordinately transformed.
Then, in step S34, will in step s 32 calculated first area A and in step S33 it is calculated
Second area B is integrated and is calculated and can travel region C.That is, can travel region C expression can be judged as the entire area that present feasible is sailed
Domain.In addition, the calculated result of step S34 is stored in memory 302, and second area is set in the processing cycle of next time
It is utilized when B.
In step s 35, track generating unit 303 step S34 middle section in calculated travelable region C it is raw
The target travel track T of cost vehicle 10.In addition, middle section of the invention refers to that the center line by travelable region C only expands
The range of big specified amount (such as value of the half of the vehicle-width of this vehicle 10).
In step S36, model- following control is executed to control this vehicle 10 along the target travel track generated in step S35
T traveling.Specifically, as described above, the corresponding target travel track T of driving control portion 304 calculates the control amount of diverter etc., and
By driving actuator 40 to realize the model- following control based on calculated control amount.
Then, judge whether that model- following control should be stopped in step S37.When being judged as NO timing, then return step S31 is heavy
Multiple above-mentioned processing.Then terminate this vehicle driving control processing when being judged as certainly.Whether should stop model- following control based on whether
Have the beginning condition of above-mentioned preceding vehicle model- following control and is judged.
In addition, being utilized in step S31 in the case where the switching of preceding vehicle has occurred in the execution of the processing of Fig. 2
Object identification arithmetic unit 24 detects whether the switching there are preceding vehicle, then in step s 32 based on new preceding vehicle
Calculate first area A.
The processing (step S32~S34) of above-mentioned travelable region calculation part 301 is illustrated referring to Fig. 3 and Fig. 4.
Fig. 3 is that the diagram that the situation of front and back is arranged with time sequencing occurs for the insertion (jumping a queue) of preceding vehicle.Preceding vehicle
Insertion occur before (Fig. 3 on the left of), can travel region calculation part 301 based on the driving trace of current preceding vehicle 100
Calculate first area A.In addition, when there are in the case where travelable region calculated in the processing cycle of last time, this can travel
First area A and second area B integrated and calculated this travelable region C as second area B in region.In addition, figure
The situation in 3 left sides indicates the initial processing of the process for executing Fig. 2, therefore second area B is not present.Therefore, first area A becomes
This travelable region C.
Then, in the case where other vehicle (new preceding vehicles 110) is inserted between this vehicle 10 and preceding vehicle 100
(center Fig. 3), can travel region calculation part 301 and is calculated new first area A based on the driving trace of new preceding vehicle 110.Separately
Outside, can travel region calculation part 301 will be based on travelable region, that is, preceding vehicle 100 as this vehicle 10 up to last time
The calculated region of driving trace is set as second area B, and first area A and second area B is integrated and calculates this
It can travel region C.
In next processing cycle (on the right side of Fig. 3), it can travel region calculation part 301 and be similarly based on new preceding vehicle
110 current location and its driving trace calculate first area A, and the travelable region of last time is set as second area B, will
First area A and second area B integrates and calculates this travelable region C.
As described above, in the case where preceding vehicle 100 is switched to new preceding vehicle 110, being considered as in the embodiment
The second area B in the travelable region of last time sets this travelable region C.Therefore, even if switching in preceding vehicle
In the case where be also able to suppress travelable region C and have greatly changed, so as to inhibit the movement of this vehicle 10 occur compared with
Big variation.In addition, due to being not the gain changed in model- following control, the followability to preceding vehicle will not be reduced.
Fig. 4 indicates variation when calculating this travelable region C.In variation shown in Fig. 4, fill up the firstth area
The step (corner part 50) that domain A and second area B are generated when integrating.At this point, in travelable region C after filling up by filling up portion
The angle [alpha] of the 51 boundary line L1 formed the and boundary line L2 adjacent with portion of filling up 51 is set as the speed of this vehicle 10 is higher
And it is smaller.
In addition, as shown in figure 4, the institute that above-mentioned filling processing generates when can integrate for first area A and second area B
Some steps (corner part 50) execute, and at least step existing for the driving direction to this vehicle 10 executes.
Such as above-mentioned variation, by filling up the step (corner part 50) of travelable region C, so that in travelable region C
The target travel track T of this vehicle 10 generated can become more sleek track.
In addition, the speed of this vehicle 10 is higher, then experience in target travel track T to institutes upper in the case where lateral run-out
The sense of discomfort arrived is bigger.Therefore, by higher with the speed of this vehicle 10, the smaller mode of above-mentioned angle [alpha] is set, can
The offset relative to transverse direction of target travel track T is reduced, so as to reduce above-mentioned sense of discomfort.
Then, the trajectory generation process executed above by track generating unit 303 is illustrated referring to Fig. 5~Fig. 7.Separately
Outside, the situation that Fig. 5 is indicated is identical as situation shown in Fig. 3.
As shown in figure 5, middle section of the track generating unit 303 in the travelable region C sometime put generates target line
Sail track T.Specifically, as shown in FIG. 6 and 7, this vehicle 10 is defined respectively relative to barrier in each place that can travel in the C of region
Hinder the potential risk of object, and is that the smallest driving trace is set as target travel track T by the value of the potential risk.
For example, in the case where defining potential risk with quadratic function, by the potential risk of travelable region C right boundary
Value be set as 1 (maximum value), the value of the potential risk at the vehicle width direction center of travelable region C is set as 0 (minimum value).
Track generating unit 303 reconnoitres all potential risks in each place in travelable region C, and by known optimal
Change algorithm (such as least square method) and determines that the value of its potential risk adds up to the smallest track.
In addition, can also be defined by biquadratic function as shown in fig. 7, potential risk is not limited to quadratic function.Separately
It outside, can also be in a certain range at the vehicle width direction center from travelable region C, using the value of potential risk as minimum value
(certain value).In turn, the function for defining potential risk does not need bilateral symmetry, and the travel that can also correspond to this vehicle 10 makes
Value of potential risk or so difference.For example, in the road of three lanes, in lanes of this vehicle 10 on the left of driving direction
In, the potential risk value in left side is set, higher so as to reduce risk of this vehicle 10 from route deviation.
Then, it is illustrated referring to the quantitative effect that vehicle driving of the Fig. 8 to embodiment 1 controls.Fig. 8 longitudinal axis indicates this vehicle
The curvature of 10 driving trace, horizontal axis indicate the time.In addition, when solid line indicates to execute the vehicle driving control of embodiment 1
Movement, dotted line indicate movement when directly executing common model- following control, and chain-dotted line indicates to execute control described in Patent Document 1
When movement.
As described above, in control described in Patent Document 1, due to lower setting the gain of model- following control,
Preceding vehicle can inhibit the movement of vehicle to vary widely when switching.But as shown in getting up Fig. 8 centre circle,
Reduce the responsiveness relative to common model- following control.In contrast, in the feelings for the vehicle driving control for performing embodiment 1
It is then not in the case where above-mentioned responsiveness reduces under condition.In addition, it is same as technology described in Patent Document 1, occurring to move ahead
When vehicle switches, the movement for being able to suppress this vehicle 10 is varied widely.
Fig. 9 is the explanatory diagram for indicating other variations of travelable region calculation processing of embodiment 1.In the variation
In, after the travelable region C for calculating this, which is only reduced respectively from right boundary
A half value (W/2) of the vehicle width W of this vehicle 10.
That is, consider the vehicle width W of this vehicle 10 when generating target travel track T and generate target travel track T, so that
This vehicle 10 reliably travels in travelable region C.In other words, it is not necessary in the left and right side from travelable region C
Target travel track T is generated in the range of a half value (W/2) for boundary vehicle width.Therefore, in the variation, target line is being generated
Eliminate the vehicle width W's of this vehicle 10 before sailing track T respectively from the right boundary of the vehicle width direction of travelable region C in advance
The amount of one half value (W/2).As a result, can reduce the burden of the calculation process of track generating unit 303.
The vehicle travel control method and controlling device for vehicle running of embodiments illustrated above 1 can obtain following skills
Art effect.
(1) in vehicle travel control method of control this vehicle 10 to follow preceding vehicle 100, when detecting preceding driving
It is inserted between 100 and this vehicle 10 in the case where new preceding vehicle 110 (step S31), according to the traveling of new preceding vehicle 110
Trajectory calculation is judged as the travelable first area A (step S32) of this vehicle 10, and by until last time this vehicle 10 it is feasible
It sails region and is set as second area B (step S33), first area A and second area B is integrated and provides to can travel region C (step
Rapid S34), and the target travel track T (step S35) of this vehicle 10 is generated in defined travelable region C, along generation
Target travel track T controls this vehicle 10 (step S36).
That is, being considered as the travelable region of last time in the case where preceding vehicle 100 is switched to new preceding vehicle 110
Second area B and set this travelable region C.It therefore, can in the case where preceding vehicle switches
Travelable region C is inhibited to have greatly changed, so as to inhibit the movement of this vehicle 10 to vary widely.
(2) in addition, generating target travel track T (step S35, Fig. 5~Fig. 7) can travel the middle section in the C of region.
Therefore, on the basis of the effect of (1), additionally it is possible to generate round and smooth target travel track T.
(3) in addition, filling up the corner part 50 of defined travelable region C using portion of filling up 51, and it is feasible after filling up
It sails in the C of region and generates target travel track T (step S34~S35, Fig. 4).Therefore, the step in travelable region C can be eliminated
(corner part 50), so as to generate more sleek target travel track T.
(4) in addition, with the utilization in the travelable region C after filling up fill up the formation of portion 51 boundary line L1 and with fill up portion
Angle [alpha] between 51 adjacent boundary line L2 is set as more shallow mode and is filled up as the speed of this vehicle 10 is higher
(step S34, Fig. 4).That is, passenger experiences bigger to the sense of discomfort of crosswise movement since the speed of this vehicle 10 the high,
Therefore, it is configured to, the speed of this vehicle 10 the high, more reduces the expansion to transverse direction using the travelable region C for filling up portion 51
?.As a result, on the basis of the effect of (3), target travel track T-phase can be reduced for lateral offset, so as to
Reduce above-mentioned sense of discomfort.
(5) in addition, the boundary definition of the vehicle width direction based on this vehicle 10 in travelable region C is relative to this vehicle 10
The potential risk of the barrier of surrounding, and be that the smallest path is set as target travel track T (step by the potential risk of definition
S35, Fig. 6, that is, Fig. 7).Therefore, on the basis of the effect of (1)~(4), more sleek target travel track T can be generated.
(6) in addition, defining potential risk with quadratic function, and the value of the potential risk on the boundary of vehicle width direction is set as 1,
And the value of the potential risk at the center of vehicle width direction is set as 0 (step S35, Fig. 6 and Fig. 7).Therefore, (5) effect base
On plinth, this vehicle 10 can more reliably be avoided to deviate from travelable region C, and can will be used to generate target travel track T
Calculation process it is more simplified.
(7) in addition, defining potential risk using quadratic function, and determine that potential risk becomes minimum based on least square method
Path (step S35, Fig. 6 and Fig. 7).Therefore, (5), (6) effect on the basis of, without carry out repeatedly operation and can
Realize the calculation process of higher speed.
(8) in addition, having control this vehicle 10 along the control of target travel track T for following preceding vehicle and generating
In the controlling device for vehicle running (vehicle travel control system 1) of device (vehicle control arithmetic unit 30), controller 30 has inspection
It surveys and the test section (object detection that new preceding vehicle 110 is inserted into (jumping a queue) whether occurs between preceding vehicle 100 and this vehicle 10
Sensor 21, object identification arithmetic unit 24), according to the driving trace of new preceding vehicle 110 calculating be judged as that this vehicle 10 can
The calculation part (can travel region calculation part 301) of the first area A of traveling will be set as second up to the travelable region of last time
First area A and second area B is integrated and is provided to can travel region by the configuration part (can travel region calculation part 301) of region B
The region specified part (can travel region calculation part 301) of C and the target travel that this vehicle 10 is generated in travelable region C
The generating unit (track generating unit 303) of track T.
That is, being considered as the travelable region of last time in the case where preceding vehicle 100 is switched to new preceding vehicle 110
Second area B and set this travelable region C.Therefore, even if also can in the case where preceding vehicle switches
Travelable region C is inhibited to have greatly changed, so as to inhibit the movement of this vehicle 10 to vary widely.
Embodiment 2
Then, 0 and Figure 11 controls the vehicle travel control method and vehicle driving of the embodiment of the present invention 2 referring to Fig.1
Device is illustrated.In addition, the vehicle travel control system of embodiment 2 and the vehicle travel control system of embodiment 1 constitute phase
Together, therefore, detailed description is omitted.
Figure 10 is to indicate that the vehicle driving of the embodiment 2 executed using the vehicle control of embodiment 2 with arithmetic unit 30 is controlled
The flow chart of processing.Process shown in Fig. 10 is same as Fig. 2, the execution when meeting the beginning condition of preceding vehicle model- following control.
It is similarly handled firstly, being executed from step S51~S53 with step S31~S33 of Fig. 2.Then, in step S54
Provide imaginary second area B '.Specifically, that the vehicle width direction of the second area B set in step S53 is only expanded regulation is wide
Region after degree is defined as imaginary second area B '.
In step S55, based on first area A calculated in step S52, the secondth area set in step S53
The domain B and imagination second area B ' specified in step S54 calculates this travelable region C.Specifically, as shown in figure 11,
By only by region (being expressed as region A&B ' in Figure 11) Chong Die with imaginary second area B ' in the A of first area and second area
B is integrated and is set this travelable region C.
As long as processing is not limited in addition, can finally set this travelable region C as described above
In above content.For example, it can be similarly to Example 1, first area A and second area B is integrated first, is then deleted
In the A of first area with the imaginary nonoverlapping region second area B ' (region other than A&B ').
In step S56~S58 then, executes and similarly handled with step S35~S37 of Fig. 2.In addition, only in step
Just above-mentioned processing repeatedly when in rapid S58 to negate.
That is, the region for being expressed as region C in Figure 11 is set as by example as shown in figure 11 in processing cycle then
Second area B (step S53), and the region for only being expanded defined width is defined as imaginary second area B ' (step
S54).Therefore, by executing the processing of Figure 10 repeatedly, thus finally will be travelable with the embodiment 1 referring to explanations such as Fig. 2,3
C same Area generation in region is that can travel region C.
In the vehicle travel control method and controlling device for vehicle running of embodiment 2, following effect can be obtained.
(9) vehicle width direction of second area B is only expanded the imaginary second area B ' (step S54) of defined width by regulation,
And only region (region A&B ') Chong Die with imaginary second area B ' in the A of first area and second area B are integrated and provide can
Running region C (step S55).That is, this travelable region C will not be from the second area B ' in the travelable region as last time
Expand defined width or more.Therefore, even if in the case where preceding vehicle switches, travelable area can also be further suppressed
Domain C has greatly changed, and varies widely so as to further suppress the movement of this vehicle 10.
(10) it provides can travel region C alternatively, it is also possible to integrate first area A and second area B, and provides the
The vehicle width direction of two region B only expands the imaginary second area B ' of defined width, and delete in the travelable region C of defined with
The imaginary nonoverlapping region second area B '.It can also obtain in this case and (8) same effect.
More than, based on embodiment 1 and 2 pairs of embodiment vehicle travel control methods and controlling device for vehicle running of the invention
It is illustrated, but is not limited to above-described embodiment about specific composition, without departing from the items hair of request range
Bright purport, change and addition for allowing to be designed etc..
In embodiment 1,2, scanning type laser radar and millimetre-wave radar are illustrated as object detection sensors 21.But
It is that object detection sensors 21 are not limited to above-mentioned component.Such as it is also possible to based on before the vehicle shot by video camera
Side image and detection object component.
Symbol description
1 vehicle travel control system, 10 vehicles, 100 preceding vehicles, 110 new preceding vehicles, 21 object detection sensors
(test section), 24 object identifications arithmetic unit (test section), 30 vehicle controls arithmetic unit (controller), 301 travelable regions
Calculation part (calculation part, configuration part, region specified part), 303 track generating units (generating unit).
Claims (10)
1. a kind of vehicle travel control method, controls this vehicle in a manner of following preceding vehicle, which is characterized in that
Detect be inserted into new preceding vehicle between the preceding vehicle and this vehicle in the case where,
The first area for being judged as that this vehicle is travelable is calculated according to the driving trace of the new preceding vehicle,
The travelable region of this vehicle up to last time is set as second area,
It provides the first area and second area integration can travel region,
The target travel track of this vehicle is generated in the defined travelable region,
Along this vehicle of the target travel TRAJECTORY CONTROL of generation.
2. vehicle travel control method as described in claim 1, which is characterized in that
Middle section in the travelable region generates the target travel track.
3. vehicle travel control method as claimed in claim 1 or 2, which is characterized in that
The corner part in the defined travelable region is filled up using the portion of filling up,
And the target travel track is generated in the travelable region after described fill up.
4. vehicle travel control method as claimed in claim 3, which is characterized in that
With with the speed of this vehicle it is higher, it is described fill up after travelable region in, utilize the portion of filling up formed boundary
The more shallow mode of angle between line and the boundary line adjacent the portion of filling up sets described fill up.
5. vehicle travel control method as described in any one of claims 1 to 4, which is characterized in that
The boundary of vehicle width direction based on this vehicle in the travelable region defines the barrier relative to this vehicle periphery
Potential risk,
It is the smallest path as the target travel track using the potential risk of definition.
6. vehicle travel control method as claimed in claim 5, which is characterized in that
The potential risk is defined with quadratic function, and the value of the potential risk on the boundary of the vehicle width direction is set as 1,
Also, the value of the potential risk at the center of the vehicle width direction is set as 0.
7. such as vehicle travel control method described in claim 5 or 6, which is characterized in that
The potential risk is defined with quadratic function, and determines that the potential risk is the smallest path based on least square method.
8. such as vehicle travel control method according to any one of claims 1 to 7, which is characterized in that
The vehicle width direction of the second area is only expanded the imaginary second area of defined width by regulation,
Only institute is provided by integrating in the first area with the imaginary Chong Die region of second area and the second area
State travelable region.
9. such as vehicle travel control method according to any one of claims 1 to 7, which is characterized in that
The first area and second area integration are provided into the travelable region,
The vehicle width direction of the second area is only expanded the imaginary second area of defined width by regulation,
As defined in deleting in the travelable region with the nonoverlapping region of the imaginary second area.
10. a kind of controlling device for vehicle running has along the target travel track generated in a manner of following preceding vehicle
Control the controller of this vehicle, which is characterized in that the controller has:
Whether test section, detection occur new preceding vehicle insertion between the preceding vehicle and this vehicle；
Calculation part calculates the first area for being judged as that this vehicle is travelable according to the driving trace of the new preceding vehicle；
Configuration part, will be until the travelable region of last time be set as second area；
The first area and the second area are integrated and provide to can travel region by region specified part；
Generating unit generates the target travel track of this vehicle in the travelable region.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2016/076036 WO2018042671A1 (en) | 2016-09-05 | 2016-09-05 | Vehicle travel control method and vehicle travel control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109690649A true CN109690649A (en) | 2019-04-26 |
| CN109690649B CN109690649B (en) | 2021-03-16 |
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|---|---|---|---|
| CN201680088960.5A Expired - Fee Related CN109690649B (en) | 2016-09-05 | 2016-09-05 | Vehicle travel control method and vehicle travel control device |
Country Status (10)
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|---|---|
| US (1) | US10997862B2 (en) |
| EP (1) | EP3509051A4 (en) |
| JP (1) | JP6460288B2 (en) |
| KR (1) | KR20190031331A (en) |
| CN (1) | CN109690649B (en) |
| BR (1) | BR112019004101A2 (en) |
| CA (1) | CA3035856A1 (en) |
| MX (1) | MX2019002499A (en) |
| RU (1) | RU2706750C1 (en) |
| WO (1) | WO2018042671A1 (en) |
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| CN111942382A (en) * | 2019-05-15 | 2020-11-17 | 株式会社斯巴鲁 | Automatic driving assistance system |
| WO2021000800A1 (en) * | 2019-06-29 | 2021-01-07 | 华为技术有限公司 | Reasoning method for road drivable region and device |
| CN116745187A (en) * | 2021-01-05 | 2023-09-12 | 埃尔构人工智能有限责任公司 | Method and system for predicting the trajectory of an uncertain road user by semantic segmentation of the boundary of a travelable region |
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| JP7251294B2 (en) * | 2019-04-25 | 2023-04-04 | 株式会社アドヴィックス | Vehicle travel control device |
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| US11794739B2 (en) * | 2020-06-11 | 2023-10-24 | Subaru Corporation | Vehicle driving assistance apparatus during vehicle cut in operations |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20200388157A1 (en) | 2020-12-10 |
| CA3035856A1 (en) | 2018-03-08 |
| RU2706750C1 (en) | 2019-11-20 |
| EP3509051A4 (en) | 2019-09-25 |
| US10997862B2 (en) | 2021-05-04 |
| JPWO2018042671A1 (en) | 2019-06-24 |
| JP6460288B2 (en) | 2019-01-30 |
| EP3509051A1 (en) | 2019-07-10 |
| CN109690649B (en) | 2021-03-16 |
| WO2018042671A1 (en) | 2018-03-08 |
| KR20190031331A (en) | 2019-03-25 |
| BR112019004101A2 (en) | 2019-05-28 |
| MX2019002499A (en) | 2019-07-18 |
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